Manipulator velocity field control with dynamic friction compensation

A velocity field controller for robot manipulators is proposed in this paper. The control structure is based on the use of a velocity field kinematic control scheme for joint velocity resolution and a joint velocity controller. Since dynamic friction is considered at the robot joints, the inner joint velocity, controller uses an observer for friction compensation. The proposed scheme has been implemented on a two degrees-of-freedom direct-drive arm, illustrating the performance of the proposed observer-based controller.